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- # Generated by PNCconf at Thu Mar 20 16:47:43 2014
- # If you make changes to this file, they will be
- # overwritten when you run PNCconf again
- loadrt trivkins
- loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES
- loadrt probe_parport
- loadrt hostmot2
- loadrt hm2_pci config=" num_encoders=1 num_pwmgens=0 num_3pwmgens=0 num_stepgens=4 sserial_port_0=00xxxxxx "
- setp hm2_5i25.0.watchdog.timeout_ns 10000000
- addf hm2_5i25.0.read servo-thread
- addf motion-command-handler servo-thread
- addf motion-controller servo-thread
- addf hm2_5i25.0.write servo-thread
- addf hm2_5i25.0.pet_watchdog servo-thread
- # external output signals
- # --- DOUT-00 ---
- net dout-00 hm2_5i25.0.7i76.0.0.output-00
- # --- DOUT-01 ---
- #net dout-01 hm2_5i25.0.7i76.0.0.output-01
- # --- DOUT-02 ---
- #net dout-02 hm2_5i25.0.7i76.0.0.output-02
- # --- DOUT-03 ---
- net dout-03 hm2_5i25.0.7i76.0.0.output-03
- # external input signals
- # --- MIN-HOME-X ---
- net min-home-x <= hm2_5i25.0.7i76.0.0.input-01-not
- # --- MIN-X ---
- net min-x <= hm2_5i25.0.7i76.0.0.input-02-not
- # --- MIN-HOME-Y ---
- net min-home-y <= hm2_5i25.0.7i76.0.0.input-04-not
- # --- MAX-Y ---
- net max-y <= hm2_5i25.0.7i76.0.0.input-05-not
- # --- MAX-HOME-Z ---
- net max-home-z <= hm2_5i25.0.7i76.0.0.input-07-not
- # --- MIN-Z ---
- net min-z <= hm2_5i25.0.7i76.0.0.input-08
- # --- MAX-A ---
- net max-a <= hm2_5i25.0.7i76.0.0.input-11-not
- # --- HOME-A ---
- net home-a <= hm2_5i25.0.7i76.0.0.input-12-not
- # --- MIN-A ---
- net min-a <= hm2_5i25.0.7i76.0.0.input-13-not
- # --- ESTOP-EXT ---
- net estop-ext <= hm2_5i25.0.7i76.0.0.input-14-not
- # --- CYCLE-START ---
- net cycle-start <= hm2_5i25.0.7i76.0.0.input-15
- #*******************
- # AXIS X
- #*******************
- # Step Gen signals/setup
- setp hm2_5i25.0.stepgen.00.dirsetup [AXIS_0]DIRSETUP
- setp hm2_5i25.0.stepgen.00.dirhold [AXIS_0]DIRHOLD
- setp hm2_5i25.0.stepgen.00.steplen [AXIS_0]STEPLEN
- setp hm2_5i25.0.stepgen.00.stepspace [AXIS_0]STEPSPACE
- setp hm2_5i25.0.stepgen.00.position-scale [AXIS_0]STEP_SCALE
- setp hm2_5i25.0.stepgen.00.step_type 0
- setp hm2_5i25.0.stepgen.00.control-type 0
- setp hm2_5i25.0.stepgen.00.maxaccel 5000.0
- setp hm2_5i25.0.stepgen.00.maxvel 312.5
- net x-pos-fb axis.0.motor-pos-fb <= hm2_5i25.0.stepgen.00.position-fb
- net x-pos-cmd axis.0.motor-pos-cmd => hm2_5i25.0.stepgen.00.position-cmd
- net x-enable axis.0.amp-enable-out => hm2_5i25.0.stepgen.00.enable
- # ---setup home / limit switch signals---
- net min-home-x => axis.0.home-sw-in
- net min-home-x => axis.0.neg-lim-sw-in
- net x-pos-limit => axis.0.pos-lim-sw-in
- #*******************
- # AXIS Y
- #*******************
- # Step Gen signals/setup
- setp hm2_5i25.0.stepgen.01.dirsetup [AXIS_1]DIRSETUP
- setp hm2_5i25.0.stepgen.01.dirhold [AXIS_1]DIRHOLD
- setp hm2_5i25.0.stepgen.01.steplen [AXIS_1]STEPLEN
- setp hm2_5i25.0.stepgen.01.stepspace [AXIS_1]STEPSPACE
- setp hm2_5i25.0.stepgen.01.position-scale [AXIS_1]STEP_SCALE
- setp hm2_5i25.0.stepgen.01.step_type 0
- setp hm2_5i25.0.stepgen.01.control-type 0
- setp hm2_5i25.0.stepgen.01.maxaccel 5000.0
- setp hm2_5i25.0.stepgen.01.maxvel 312.5
- net y-pos-fb axis.1.motor-pos-fb <= hm2_5i25.0.stepgen.01.position-fb
- net y-pos-cmd axis.1.motor-pos-cmd => hm2_5i25.0.stepgen.01.position-cmd
- net y-enable axis.1.amp-enable-out => hm2_5i25.0.stepgen.01.enable
- # ---setup home / limit switch signals---
- net min-home-y => axis.1.home-sw-in
- net min-home-y => axis.1.neg-lim-sw-in
- net max-y => axis.1.pos-lim-sw-in
- #*******************
- # AXIS Z
- #*******************
- # Step Gen signals/setup
- setp hm2_5i25.0.stepgen.02.dirsetup [AXIS_2]DIRSETUP
- setp hm2_5i25.0.stepgen.02.dirhold [AXIS_2]DIRHOLD
- setp hm2_5i25.0.stepgen.02.steplen [AXIS_2]STEPLEN
- setp hm2_5i25.0.stepgen.02.stepspace [AXIS_2]STEPSPACE
- setp hm2_5i25.0.stepgen.02.position-scale [AXIS_2]STEP_SCALE
- setp hm2_5i25.0.stepgen.02.step_type 0
- setp hm2_5i25.0.stepgen.02.control-type 0
- setp hm2_5i25.0.stepgen.02.maxaccel 5000.0
- setp hm2_5i25.0.stepgen.02.maxvel 104.2
- net z-pos-fb axis.2.motor-pos-fb <= hm2_5i25.0.stepgen.02.position-fb
- net z-pos-cmd axis.2.motor-pos-cmd => hm2_5i25.0.stepgen.02.position-cmd
- net z-enable axis.2.amp-enable-out => hm2_5i25.0.stepgen.02.enable
- # ---setup home / limit switch signals---
- net max-home-z => axis.2.home-sw-in
- net min-z => axis.2.neg-lim-sw-in
- net max-home-z => axis.2.pos-lim-sw-in
- #*******************
- # SPINDLE S
- #*******************
- # ---setup spindle control signals---
- net spindle-vel-cmd-rps <= motion.spindle-speed-out-rps
- net spindle-vel-cmd <= motion.spindle-speed-out
- net spindle-enable <= motion.spindle-on
- net spindle-cw <= motion.spindle-forward
- net spindle-ccw <= motion.spindle-reverse
- net spindle-brake <= motion.spindle-brake
- net spindle-revs => motion.spindle-revs
- net spindle-at-speed => motion.spindle-at-speed
- net spindle-vel-fb => motion.spindle-speed-in
- net spindle-index-enable <=> motion.spindle-index-enable
- setp hm2_5i25.0.7i76.0.0.spinout-minlim [SPINDLE_9]OUTPUT_MIN_LIMIT
- setp hm2_5i25.0.7i76.0.0.spinout-maxlim [SPINDLE_9]OUTPUT_MAX_LIMIT
- setp hm2_5i25.0.7i76.0.0.spinout-scalemax [SPINDLE_9]OUTPUT_SCALE
- net spindle-enable => hm2_5i25.0.7i76.0.0.spinena
- net spindle-ccw => hm2_5i25.0.7i76.0.0.spindir
- net spindle-vel-cmd => hm2_5i25.0.7i76.0.0.spinout
- # ---Setup spindle at speed signals---
- sets spindle-at-speed true
- #******************************
- # connect miscellaneous signals
- #******************************
- # ---HALUI signals---
- net joint-select-a halui.joint.0.select
- net x-is-homed halui.joint.0.is-homed
- net jog-x-pos halui.jog.0.plus
- net jog-x-neg halui.jog.0.minus
- net jog-x-analog halui.jog.0.analog
- net joint-select-b halui.joint.1.select
- net y-is-homed halui.joint.1.is-homed
- net jog-y-pos halui.jog.1.plus
- net jog-y-neg halui.jog.1.minus
- net jog-y-analog halui.jog.1.analog
- net joint-select-c halui.joint.2.select
- net z-is-homed halui.joint.2.is-homed
- net jog-z-pos halui.jog.2.plus
- net jog-z-neg halui.jog.2.minus
- net jog-z-analog halui.jog.2.analog
- net jog-selected-pos halui.jog.selected.plus
- net jog-selected-neg halui.jog.selected.minus
- net spindle-manual-cw halui.spindle.forward
- net spindle-manual-ccw halui.spindle.reverse
- net spindle-manual-stop halui.spindle.stop
- net machine-is-on halui.machine.is-on
- net jog-speed halui.jog-speed
- net MDI-mode halui.mode.is-mdi
- # ---coolant signals---
- net coolant-mist <= iocontrol.0.coolant-mist
- net coolant-flood <= iocontrol.0.coolant-flood
- # ---probe signal---
- net probe-in => motion.probe-input
- # ---motion control signals---
- net in-position <= motion.in-position
- net machine-is-enabled <= motion.motion-enabled
- # ---digital in / out signals---
- net dout-00 <= motion.digital-out-00
- #net dout-01 <= motion.digital-out-01
- #net dout-02 <= motion.digital-out-02
- net dout-03 <= motion.digital-out-03
- # ---estop signals---
- net estop-out <= iocontrol.0.user-enable-out
- net estop-ext => iocontrol.0.emc-enable-in
- # ---manual tool change signals---
- #loadusr -W hal_manualtoolchange
- #net tool-change-request iocontrol.0.tool-change => hal_manualtoolchange.change
- #net tool-change-confirmed iocontrol.0.tool-changed <= hal_manualtoolchange.changed
- #net tool-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number
- loadusr -W hal_racktoolchange
- #net tool-change-request iocontrol.0.tool-change => hal_racktoolchange.change
- #net tool-change-confirmed iocontrol.0.tool-changed <= hal_racktoolchange.changed
- net tool-number iocontrol.0.tool-prep-number => hal_racktoolchange.toolnumber
- net pdb_valve hm2_5i25.0.7i76.0.0.output-01 <= hal_racktoolchange.blow
- net spindle_tool_secure hm2_5i25.0.7i76.0.0.input-09 => hal_racktoolchange.tool_secure
- net spindle_tool_released hm2_5i25.0.7i76.0.0.input-10 => hal_racktoolchange.tool_released
- #
- net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
- net tool-change-loop iocontrol.0.tool-change iocontrol.0.tool-changed
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